A Frictional Contact-Pattern-Based Model for Inserting a Flexible Shaft Into Curved Channels

Liu, Jiajun; Cao, Lin; Miyasaka, Muneaki; Phee, Soo Jay

doi:10.1109/tmech.2021.3111701

Cited by 6 publications

(11 citation statements)

References 35 publications

(60 reference statements)

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“…The obtained insertion force‐depth characteristics of flexible instruments in S‐shaped channels was similar to those found by Liu et al., who developed models of flexible instruments (catheters) in planar curved channels with clearance and friction based on the definition of contact patterns 44 . Our work differs from the article by Liu et al.…”

Section: Discussionsupporting

confidence: 85%

“…The obtained insertion force-depth characteristics of flexible instruments in S-shaped channels was similar to those found by Liu et al, who developed models of flexible instruments (catheters) in planar curved channels with clearance and friction based on the definition of contact patterns. 44 Our work differs from the article by Liu et al in that it considers application of external loads on the nodes, rather than making use of contact patterns. Although computationally more intensive, the models in this work enable easy implementation of 3D reference curves and complex channel cross-sections.…”

Section: Discussionmentioning

confidence: 94%

“…37,43,46 The effect of channel diameter on the insertion force of elastic rods in curved channels has been scarcely studied, although the work by Liu et al provides some insights. 44 The strong dependence of flexible instrument behavior on channel diameter stresses the importance of adequate applicator (channel) geometry consistency checks, especially when considering 3D printing.…”

Section: Discussionmentioning

confidence: 99%

“…Contact pattern-based methods may (partially) overcome these problems. 44,62 Alternatively, implicit integration schemes may improve the stability of the simulations. Moreover, to simplify the contact model one-dimensional instruments consisting of sections with constant diameter were considered, whereas the shape of the instrument may be of higher complexity.…”

Section: Discussionmentioning

confidence: 99%

“…Kinematic models for BT catheters in curved channels that have been introduced were based on models for steerable needles. [9][10][11] The modeling of deformations and associated forces and moments of slender elastic rods inside rigid (circular) channels or environment has been the topic of several studies for different applications: (i) drill string buckling, [24][25][26][27] (ii) serpentine locomotion, [28][29][30] (iii) concentric tube instruments, [31][32][33] and (iv) (steerable) catheter and guidewire insertion, [34][35][36][37][38][39][40][41][42][43][44] among others. Due to geometric, material, and physical nonlinearities in the problem formulation, most work resorts to numerical approaches.…”

Section: Related Workmentioning

confidence: 99%

See 4 more Smart Citations

Multibody dynamic modeling of the behavior of flexible instruments used in cervical cancer brachytherapy

Straathof,

Meijaard,

van Vliet‐Pérez

et al. 2024

Medical Physics

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BackgroundThe steep radiation dose gradients in cervical cancer brachytherapy (BT) necessitate a thorough understanding of the behavior of afterloader source cables or needles in the curved channels of (patient‐tailored) applicators.PurposeThe purpose of this study is to develop and validate computer models to simulate: (1) BT source positions, and (2) insertion forces of needles in curved applicator channels. The methodology presented can be used to improve the knowledge of instrument behavior in current applicators and aid the development of novel (3D‐printed) BT applicators.MethodsFor the computer models, BT instruments were discretized in finite elements. Simulations were performed in SPACAR by formulating nodal contact force and motion input models and specifying the instruments’ kinematic and dynamic properties. To evaluate the source cable model, simulated source paths in ring applicators were compared with manufacturer‐measured source paths. The impact of discrepancies on the dosimetry was estimated for standard plans. To validate needle models, simulated needle insertion forces in curved channels with varying curvature, torsion, and clearance, were compared with force measurements in dedicated 3D‐printed templates.ResultsComparison of simulated with manufacturer‐measured source positions showed 0.5–1.2 mm median and <2.0 mm maximum differences, in all but one applicator geometry. The resulting maximum relative dose differences at the lateral surface and at 5 mm depth were 5.5% and 4.7%, respectively. Simulated insertion forces for BT needles in curved channels accurately resembled the forces experimentally obtained by including experimental uncertainties in the simulation.ConclusionThe models developed can accurately predict source positions and insertion forces in BT applicators. Insights from these models can aid novel applicator design with improved motion and force transmission of BT instruments, and contribute to the estimation of overall treatment precision. The methodology presented can be extended to study other applicator geometries, flexible instruments, and afterloading systems.

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Section: Discussionsupporting

confidence: 85%

Section: Discussionmentioning

confidence: 94%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 3 more Smart Citations

Multibody dynamic modeling of the behavior of flexible instruments used in cervical cancer brachytherapy

Straathof,

Meijaard,

van Vliet‐Pérez

et al. 2024

Medical Physics

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Resistance Model for Capsule Endoscope Traveling in the Curved Intestine

Huang,

Liang,

Tang

et al. 2023

Tribol Lett

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The Post-Buckling Behavior of a Beam Constrained by Nonlinear Springy Walls

Judah,

Givli

2024

Journal of Applied Mechanics

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The post-buckling behavior of a beam that is subjected to lateral constraints is of relevance to a range of medical and engineering applications, such as endoscopic examination of internal organs, the insertion of a guidewire into an artery in stent procedures, root growth, deep drilling, and more. In this paper we address a disconnect between the existing literature and the reality of these systems, in which the lateral constraints are flexible and experience nonlinear deformations. As a step towards bridging this gap, we consider a beam undergoing planar deformations that is laterally constrained by a non-linear springy wall, i.e. a wall that is laterally pushed by the beam against a non-linear spring. Based on a simplified mathematical model, we obtain closed form analytical solutions, which provide valuable insights and intuition. For example, we show that important features of the behavior, such as transition from point contact to line contact and switching to the next mode, are dictated solely by a non-dimensional force, regardless of all other parameters of the system, and that the full description of the behavior is possible by means of two non-dimensional quantities that describe the relative stiffness of the nonlinear spring compared to that of the beam. The results also highlight the fundamental differences between the behavior with a stiffening spring or with a softening spring, such as the number of attainable modes and the monotonicity of the overall force-displacement relation. These results are then validated by experiments.

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A Frictional Contact-Pattern-Based Model for Inserting a Flexible Shaft Into Curved Channels

Abstract: A frictional contact-pattern-based model for inserting a flexible shaft into curved channels. IEEE/ASME Transactions On Mechatronics.

Cited by 6 publications

References 35 publications

Multibody dynamic modeling of the behavior of flexible instruments used in cervical cancer brachytherapy

Multibody dynamic modeling of the behavior of flexible instruments used in cervical cancer brachytherapy

Resistance Model for Capsule Endoscope Traveling in the Curved Intestine

The Post-Buckling Behavior of a Beam Constrained by Nonlinear Springy Walls

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